\hypertarget{classBezier__1D}{}\doxysection{Bezier\+\_\+1D Class Reference}
\label{classBezier__1D}\index{Bezier\_1D@{Bezier\_1D}}


This class can be used to constructed a 1-\/dimensional Bezier curve.  




{\ttfamily \#include $<$bezier\+\_\+1\+D.\+h$>$}

\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
double \mbox{\hyperlink{classBezier__1D_a3dca1ff18fe9dd8fb31e582781dbbbe1}{factorial}} (int num)
\begin{DoxyCompactList}\small\item\em calculate the factorial of an interger \end{DoxyCompactList}\item 
double \mbox{\hyperlink{classBezier__1D_a494ac4b27916733740232e37d8da08fb}{nchoosek}} (int n, int k)
\begin{DoxyCompactList}\small\item\em calculate the combination number n choose k or C\+\_\+\{n\}$^\wedge$\{k\} = n! / (k!(n-\/k)!) \end{DoxyCompactList}\item 
double \mbox{\hyperlink{classBezier__1D_a2f0a069e38bf26c79f1b545f62f6da04}{get\+Out}} (double s)
\begin{DoxyCompactList}\small\item\em Get the value in s. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classBezier__1D_a36e64027940c12bc42d9a0bf25cf6cbf}\label{classBezier__1D_a36e64027940c12bc42d9a0bf25cf6cbf}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{classBezier__1D_a36e64027940c12bc42d9a0bf25cf6cbf}{P}}
\begin{DoxyCompactList}\small\item\em a sequence of number used to generate a one-\/dimesionanl Bezier curve \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
This class can be used to constructed a 1-\/dimensional Bezier curve. 



Definition at line 16 of file bezier\+\_\+1\+D.\+h.



\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classBezier__1D_a3dca1ff18fe9dd8fb31e582781dbbbe1}\label{classBezier__1D_a3dca1ff18fe9dd8fb31e582781dbbbe1}} 
\index{Bezier\_1D@{Bezier\_1D}!factorial@{factorial}}
\index{factorial@{factorial}!Bezier\_1D@{Bezier\_1D}}
\doxysubsubsection{\texorpdfstring{factorial()}{factorial()}}
{\footnotesize\ttfamily double Bezier\+\_\+1\+D\+::factorial (\begin{DoxyParamCaption}\item[{int}]{num }\end{DoxyParamCaption})}



calculate the factorial of an interger 


\begin{DoxyParams}{Parameters}
{\em num} & the interger to be calculated \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
double
\end{DoxyReturn}
\begin{DoxyNote}{Note}
positive integer required 
\end{DoxyNote}


Definition at line 14 of file bezier\+\_\+1\+D.\+cpp.



Referenced by nchoosek().

\mbox{\Hypertarget{classBezier__1D_a2f0a069e38bf26c79f1b545f62f6da04}\label{classBezier__1D_a2f0a069e38bf26c79f1b545f62f6da04}} 
\index{Bezier\_1D@{Bezier\_1D}!getOut@{getOut}}
\index{getOut@{getOut}!Bezier\_1D@{Bezier\_1D}}
\doxysubsubsection{\texorpdfstring{getOut()}{getOut()}}
{\footnotesize\ttfamily double Bezier\+\_\+1\+D\+::get\+Out (\begin{DoxyParamCaption}\item[{double}]{s }\end{DoxyParamCaption})}



Get the value in s. 


\begin{DoxyParams}{Parameters}
{\em s} & phase variable of the curve, should in \mbox{[}0, 1\mbox{]} \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
double 
\end{DoxyReturn}


Definition at line 32 of file bezier\+\_\+1\+D.\+cpp.



References nchoosek(), and P.



Referenced by Foot\+Placement\+::\+Trajectory().

\mbox{\Hypertarget{classBezier__1D_a494ac4b27916733740232e37d8da08fb}\label{classBezier__1D_a494ac4b27916733740232e37d8da08fb}} 
\index{Bezier\_1D@{Bezier\_1D}!nchoosek@{nchoosek}}
\index{nchoosek@{nchoosek}!Bezier\_1D@{Bezier\_1D}}
\doxysubsubsection{\texorpdfstring{nchoosek()}{nchoosek()}}
{\footnotesize\ttfamily double Bezier\+\_\+1\+D\+::nchoosek (\begin{DoxyParamCaption}\item[{int}]{n,  }\item[{int}]{k }\end{DoxyParamCaption})}



calculate the combination number n choose k or C\+\_\+\{n\}$^\wedge$\{k\} = n! / (k!(n-\/k)!) 


\begin{DoxyParams}{Parameters}
{\em n} & \\
\hline
{\em k} & \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
double
\end{DoxyReturn}
\begin{DoxyNote}{Note}
positive integer required 
\end{DoxyNote}


Definition at line 26 of file bezier\+\_\+1\+D.\+cpp.



References factorial().



Referenced by get\+Out().



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
bezier\+\_\+1\+D.\+h\item 
bezier\+\_\+1\+D.\+cpp\end{DoxyCompactItemize}
